How to compile several maps into a texture
Yes.  Here's a basic node layout:



If you have a normal map you wouldn't also need the height map generally.  Note on the annotation that you need to set the right type of normal map.  If you don't know, you can try the different types.  

The images are, from top to bottom, Ambient Occlusion, Color (Diffuse), Roughness, and Normal maps.

Note as JtheNinja points out, Ambient Occlusion is not "real" lighting...so it's a stylistic effect rather than realistic.  You might play with different modes (besides Soft Light), or decide to not use that map.  Blender also has built-in AO that you can turn on if you choose to.